Application of Model Predictive Control Considering Error-Integration to Swing suppression and Positioning

摘要

This paper proposes Model Predictive Control with I-compensator of PID control to a traveling crane system. I-element improves disturbance removal characteristics of Model Predictive Control. To verify the control performance of the proposed method, we compared the proposed method with former one by swing suppression and positioning control experiment of a traveling crane system. As a result, in the step disturbance case, the proposed method can control the system without offset, but former one can't do. And the control performance of the proposed method under the sinusoid disturbance is superior to former one.